/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __3901L0X_H
#define __3901L0X_H



/* Exported macro ------------------------------------------------------------*/
/* Includes ------------------------------------------------------------------*/

#include "stm32f4xx.h"
#include "msp.h"


/* Exported define -----------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/

typedef struct
{
    uint8_t L0X3901_LidarQlty;//激光雷达测量质量
    int32_t L0X3901_Distance;//测距结果，单位mm，超出测量范围/无效测量=-1
    //光流部分还没搞明白
    uint8_t L0X3901_OpFlowQlty;//光流质量
    int32_t L0X3901_MotionX;
    int32_t L0X3901_MotionY;
}L0X3901_DataTypeDef;


typedef struct
{
	float  Init_alt;//高度控制目标
	float  Now_Ralt;  //相对高度当前值
	float  Last_Ralt;
	float  Velocity;
	float  Last_Velocity;
}Light_Lidar;

typedef struct
{
	float  MotionV_X;//高度控制目标
	float  MotionV_Y;  //相对高度当前值
	float  LMotionV_X;//高度控制目标
	float  LMotionV_Y;  //相对高度当前值
	
}Light_Flow;


/* Exported functions --------------------------------------------------------*/

void L0X3901_AllDataRead(MSPFun_TypeDef MSP_Fun);



#endif


